CN110883784A

CN110883784A - Robot feeding and discharging gripper applied to double-mold tubular liquid-filling forming part

Info

Publication number: CN110883784A
Application number: CN201911220999.XA
Authority: CN
Inventors: 张绍君; 张淳; 张扬; 赵娜; 王伟
Original assignee: Tianjin Tianduan Press Co Ltd
Current assignee: Tianjin Tianduan Press Co Ltd
Priority date: 2019-12-03
Filing date: 2019-12-03
Publication date: 2020-03-17

Abstract

The invention relates to a robot feeding and discharging gripper applied to a double-mold tubular hydroformed part, belonging to the technical field of a hydroformed part production line and being characterized in that: the robot comprises a main rod, wherein one end of the main rod is fixedly connected with a flange plate for connecting a sixth shaft of the robot; the other end of the main rod is fixedly provided with a quick gun changing plate; the quick gun changing plate is fixedly connected with a mounting plate; two adjusting brackets are arranged on the mounting plate; each adjusting frame comprises a rotating shaft rod perpendicular to the main rod, and the two rotating shaft rods are positioned in the same plane; the mounting plate is provided with a boss with a through hole, and the rotating shaft rod passes through the through hole to be movably connected with the mounting plate; the connecting arms are connected to each rotating shaft rod, a plurality of vertical rotating shaft rods are connected to one end of each connecting arm, the clamping ring is connected with the rotating shaft rods, and the air cylinder or the sucking disc or the detection switch is installed at the other end of each connecting arm.

Description

Robot feeding and discharging gripper applied to double-mold tubular liquid-filling forming part

Technical Field

The invention belongs to the technical field of a liquid-filling forming part production line, and particularly relates to a robot feeding and discharging gripper applied to a double-mold tubular liquid-filling forming part.

Background

With the development of the automobile industry, energy conservation becomes a trend of automobile development later, the tubular hydroforming part replaces the existing tubular splicing, and the welding part is approved by the whole automobile factory. At present, the varieties of tubular liquid-filling forming parts are few in China, the market of tubular liquid-filling forming equipment is monopolized by foreign equipment, and the equipment is a single machine and is used for manual feeding and discharging. The production efficiency is low, the labor cost is high, the labor intensity is high, and the requirement of mass production in the automobile industry cannot be met. The robot feeding and discharging device has become the market requirement, the design concept of one mould and two parts improves the production efficiency, and higher requirements are provided for the robot feeding and discharging to grab parts.

Disclosure of Invention

The invention provides a robot feeding and discharging gripper applied to a double-mold pipe type liquid-filling forming part, aiming at solving the technical problems in the prior art. The feeding gripper adopts a form that a pneumatic sucker is combined with a cylinder clamping jaw, and the stability in the gripping and carrying processes is ensured by a double-gripping form. The function of quickly replacing the hand grab is realized by replacing the gun disc. The blanking gripper adopts an electromagnetic chuck form and adsorbs the plane position of the formed part.

The invention aims to provide a robot feeding and discharging gripper applied to a double-mold tubular liquid-filled forming part, which comprises a main rod (2), wherein one end of the main rod (2) is fixedly connected with a flange (1) for connecting a sixth shaft of a robot; a quick gun changing plate (4) is fixedly arranged at the other end of the main rod (2); the quick gun changing plate (4) is fixedly connected with a mounting plate; two adjusting brackets (5) are arranged on the mounting plate; each adjusting frame (5) comprises a rotating shaft rod perpendicular to the main rod (2), and the two rotating shaft rods are positioned in the same plane; the mounting plate is provided with a boss with a through hole, and the rotating shaft rod passes through the through hole to be movably connected with the mounting plate; each rotating shaft rod is connected with a plurality of connecting arms perpendicular to the rotating shaft rod, one end of each connecting arm is connected with the rotating shaft rod through a clamping ring, and the other end of each connecting arm is provided with a cylinder (6) or a sucking disc or a detection switch (8).

Further: each rotating shaft lever is connected with a plurality of connecting arms.

Further: the two rotating shaft levers are in central symmetry with the quick gun changing disc (4).

Further: the main rod is made of carbon fiber material.

Further: the sucker is a vacuum sucker (7) or an electromagnetic sucker (3).

The invention has the advantages and positive effects that:

according to the invention, the gripper is extended into the hydraulic machine through the main rod, so that parts can be accurately placed in the die, the main rod is made of carbon fiber materials, the weight of the gripper is reduced, and the effective load of the robot is increased. And the quick model changing work of the gripper is completed by using the gun changing disc. The hand grips are composed of aluminum alloy adjusting rods, and the positions of the two groups of hand grips are adjusted according to the postures of the two parts in the die cavity. The small-caliber flexible vacuum chuck is used for adsorbing the special-shaped pipe fitting, the jacking amount of the part is reduced, the part with the relative regulation of the special-shaped pipe fitting is selected from the installation position of the vacuum chuck, and the stability of adsorbing the part is ensured. The part is clamped by the cylinder clamping jaw, so that the part cannot move when the robot moves and rotates quickly, and the cylinder clamping jaw and the part grabbing position are in a copying shape. The part detection switch is associated with the robot and has a part falling alarm function. The tongs are configured with a coding function, so that the correctness of the tongs can be effectively identified. Because the part has the plane position after the shaping, and the surface has the emulsion, the vacuum chuck adsorbs the part unreliable, avoids ejecting the part too high in the mould, and the unloading adopts the electromagnetic chuck form, effectively adsorbs the part.

Drawings

FIG. 1 is a block diagram of a preferred embodiment of the present invention during loading;

FIG. 2 is a structural diagram of the blanking of the preferred embodiment of the present invention;

wherein: 1. a flange plate; 2. a main rod; 3. an electromagnetic chuck; 4. quickly replacing the gun plate; 5. an adjusting bracket; 6. a cylinder; 7. a vacuum chuck; 8. and (6) detecting a switch.

Detailed Description

In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:

referring to fig. 1 to 2, a robot loading and unloading gripper applied to a dual-mold tubular hydroformed part includes a main rod 2, one end of the main rod 2 is fixedly connected with a flange 1 for connecting a sixth shaft of the robot; a quick gun changing plate 4 is fixedly arranged at the other end of the main rod 2; the quick gun changing plate 4 is fixedly connected with a mounting plate; two adjusting brackets 5 are arranged on the mounting plate; each adjusting bracket 5 comprises a rotating shaft rod perpendicular to the main rod 2, and the two rotating shaft rods are positioned in the same plane; the mounting plate is provided with a boss with a through hole, and the rotating shaft rod passes through the through hole to be movably connected with the mounting plate; each rotating shaft rod is connected with a plurality of connecting arms perpendicular to the rotating shaft rod, one end of each connecting arm is connected with the rotating shaft rod through a clamping ring, and the other end of each connecting arm is provided with a cylinder 6 or a vacuum chuck 7 or an electromagnetic chuck 3 or a detection switch 8.

The two rotating shaft levers are in central symmetry relation with the quick gun changing disc 4.

Preferably, the method comprises the following steps:

(1) and the relative positions of the two parts are adjusted by adopting the stainless steel adjusting bracket.

(2) And a small-caliber flexible vacuum chuck is adopted to adsorb the special-shaped pipe fitting, so that the jacking height of the part is reduced.

(3) The cylinder clamping jaw is adopted to clamp the part, so that the part is guaranteed not to drop off in the process of quick operation and rotation, and the effect of improving the adsorption effect of the vacuum chuck is facilitated.

(4) Adopt the carbon fiber mobile jib, alleviate tongs weight, help reducing robot load and robot cost

(5) The quick replacement of the hand grab is realized by adopting the gun replacing disc, the stability of a gas circuit and a circuit signal is ensured, the code of the hand grab is automatically identified, and the electronic mistake proofing function is realized.

(6) The part detection switch is associated with the action of the robot, and the falling condition of the part gives a corresponding alarm.

(7) The blanking adopts an electromagnetic chuck form, the plane position of the part after the forming is absorbed, the jacking height of the die is reduced, and the electromagnetic chuck type blanking device is reliably applied to the working condition with emulsion.

As shown in fig. 1: flange plate 1 is fixed with the sixth hub connection of robot to connect tongs mobile jib 2, the mobile jib adopts carbon fiber material, has intensity good, the light advantage of quality. Trade rifle dish 4 fast and install at the mobile jib end, trade arranging in the rifle dish signal of telecommunication and gas circuit socket, can realize the quick replacement function of tongs. Two production modes of a mould require the tongs also to be able to grab two parts, reduce the tongs action, require to once accomplish the action of grabbing of two parts simultaneously. The position of the dual-mold tubular part in the mold cavity is unique, and the part on the gripper is required to be consistent with the mold cavity. The aluminum alloy adjusting frame 5 is used for reducing the weight of the hand grab and adjusting the position of a part. The tongs adopt two kinds of modes of snatching, in order to keep the fixed requirement of snatching of part, reduce the part height, adopt vacuum chuck 7 forms to absorb the part. Because the part blank is a special-shaped pipe fitting, a small-caliber flexible sucking disc is used to be attached to the surface of the pipe fitting to form vacuum to adsorb parts. After the part is adsorbed by the sucking disc, snatch the part through 6 clamping jaws of cylinder, guarantee that the part can not drop in the quick travel and the rotation of tongs material loading in-process. Through detection switch 8, detect the part and snatch the state, provide the warning when the part drops.

The blanking gripper adopts the electromagnetic chuck form to adsorb the plane position of the formed part, reduces the ejection height of the die, is firmer in adsorption, and can be effectively applied to the working condition of tubular liquid-filling forming.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.

Claims

1. The utility model provides a be applied to unloading tongs on robot of bimodulus tubular hydroforming part which characterized in that: comprises a main rod (2), one end of the main rod (2) is fixedly connected with a flange plate (1) for connecting a sixth shaft of the robot; a quick gun changing plate (4) is fixedly arranged at the other end of the main rod (2); the quick gun changing plate (4) is fixedly connected with a mounting plate; two adjusting brackets (5) are arranged on the mounting plate; each adjusting frame (5) comprises a rotating shaft rod perpendicular to the main rod (2), and the two rotating shaft rods are positioned in the same plane; the mounting plate is provided with a boss with a through hole, and the rotating shaft rod passes through the through hole to be movably connected with the mounting plate; each rotating shaft rod is connected with a plurality of connecting arms perpendicular to the rotating shaft rod, one end of each connecting arm is connected with the rotating shaft rod through a clamping ring, and the other end of each connecting arm is provided with a cylinder (6) or a sucking disc or a detection switch (8).

2. The robotic loading and unloading gripper for double-mold tubular hydroformed parts according to claim 1, wherein: each rotating shaft lever is connected with a plurality of connecting arms.

3. The robotic loading and unloading gripper for double-mold tubular hydroformed parts according to claim 1, wherein: the two rotating shaft levers are in central symmetry with the quick gun changing disc (4).

4. The robotic loading and unloading gripper for double-mold tubular hydroformed parts according to any of claims 1-3, wherein: the main rod is made of carbon fiber material.

5. The robotic loading and unloading gripper for double-mold tubular hydroformed parts according to claim 4, wherein: the sucker is a vacuum sucker (7) or an electromagnetic sucker (3).